Switching back and forth from AUTO mode

I have a very basic question regarding AUTO mode. If the quad is in the middle of navigating to WPs in AUTO mode, and I switch out for a minute or two to some other mode (say STABILIZE). When I will switch it back to AUTO, would it continue from where it left off or restart from home again?

I think the code currently only supports the continuation of a waypoint mission if the mode change is scripted to occur at a waypoint for x amount of time, or continue mission after a function is performed. this can only be controlled through the mission planner. if i find differently in the code while i am pilfering through it i will report back to you. I think that just from the aircraft transmitter though would require some software changes.